Muninn accelerates diffusion trajectory planners up to 4.6x by spending an uncertainty budget to decide when to cache denoiser outputs, preserving performance and certifying bounded deviation from full computation.
Motion planning diffusion: Learning and planning of robot motions with diffusion models
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Muninn: Your Trajectory Diffusion Model But Faster
Muninn accelerates diffusion trajectory planners up to 4.6x by spending an uncertainty budget to decide when to cache denoiser outputs, preserving performance and certifying bounded deviation from full computation.